\r\n(myenv) wataru@NucBoxG5:~\/git\/rcll-refbox\/src\/msgs$ git diff Zone.proto\r\ndiff --git a\/src\/msgs\/Zone.proto b\/src\/msgs\/Zone.proto\r\nindex 7aeddf28..5995f47d 100644\r\n--- a\/src\/msgs\/Zone.proto\r\n+++ b\/src\/msgs\/Zone.proto\r\n@@ -104,7 +104,9 @@ enum Zone {\r\n C_Z21 = 21;\r\n C_Z31 = 31;\r\n C_Z41 = 41;\r\n-\r\n+ C_Z51 = 51;\r\n+ C_Z61 = 61;\r\n+ C_Z71 = 71;\r\n \r\n M_Z18 = 1018;\r\n M_Z28 = 1028;\r\n@@ -166,4 +168,7 @@ enum Zone {\r\n M_Z21 = 1021;\r\n M_Z31 = 1031;\r\n M_Z41 = 1041;\r\n+ M_Z51 = 1051;\r\n+ M_Z61 = 1061;\r\n+ M_Z71 = 1071;\r\n }\r\n<\/pre>\n\u3061\u306a\u307f\u306b\uff0c\u3053\u308c\u3089ProtoBuf \u95a2\u4fc2\u306e\u30d5\u30a1\u30a4\u30eb\u306f\uff0cros2-rcll_refbox_peer \u306e\u4ee5\u4e0b\u306e\u90e8\u5206\u3067\u76f4\u63a5\u6307\u5b9a\u3057\u3066\u3044\u307e\u3059\uff0e
\n\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u69cb\u6210\u304c\u9055\u3046\u5834\u5408\u306f\uff0c\u3053\u3053\u3092\u66f8\u304d\u63db\u3048\u308b\u304b\uff0c\u30b7\u30f3\u30dc\u30ea\u30c3\u30af\u30ea\u30f3\u30af\u3092\u8cbc\u3063\u3066\u8aa4\u9b54\u5316\u3057\u3066\u304f\u3060\u3055\u3044\uff0e<\/p>\n
\r\n(myenv) wataru@NucBoxG5:~$ cat git\/ros2-rcll_refbox_peer\/refbox_peer\/CMakeLists.txt |grep ryukoku\r\nlist(APPEND Fawkes_INCLUDE_DIRS "\/home\/ryukoku\/git\/rcll-refbox\/src\/libs\/")\r\nlist(APPEND Fawkes_INCLUDE_DIRS "\/home\/ryukoku\/git\/rcll-refbox\/src\/llsf_msgs\/")\r\nlist(APPEND Fawkes_LIBRARIES "\/home\/ryukoku\/git\/rcll-refbox\/lib\/libllsf_protobuf_comm.so")\r\nlist(APPEND Fawkes_LIBRARIES "\/home\/ryukoku\/git\/rcll-refbox\/lib\/protobuf\/libllsf_msgs.so")\r\nlist(APPEND Fawkes_LIBRARIES "\/home\/ryukoku\/git\/rcll-refbox\/lib\/protobuf\/libllsf_log_msgs.so")\r\nlist(APPEND Fawkes_LIBRARIES "\/home\/ryukoku\/git\/rcll-refbox\/lib\/libmps_comm.so")\r\n<\/pre>\n\u3042\u3068\uff0c\u6700\u65b0\u306erefbox \u3060\u3068\uff0cllsf_msgs \u3067\u306f\u306a\u304f\uff0crcll_msgs\u306b\u306a\u3063\u3066\u3044\u308b\u30cf\u30ba\uff0e
\n—-
\nros2\u3067build\u3057\u3066\u304a\u304d\u307e\u3057\u3087\u3046\uff0e
\n\u79c1\u306e\u74b0\u5883\u3067\u306f\u4ee5\u4e0b\u306e\u914d\u7f6e\u306b\u306a\u3063\u3066\u3044\u307e\u3059\uff0e<\/p>\n
\r\n(myenv) wataru@NucBoxG5:~$ ls ros2_ws\/src\/r* -altrh\r\nlrwxrwxrwx 1 wataru wataru 50 Jun 10 17:27 ros2_ws\/src\/refbox_peer -> \/home\/wataru\/git\/ros2-rcll_refbox_peer\/refbox_peer\r\nlrwxrwxrwx 1 wataru wataru 50 Jun 10 17:27 ros2_ws\/src\/refbox_msgs -> \/home\/wataru\/git\/ros2-rcll_refbox_peer\/refbox_msgs\r\n<\/pre>\n\u306a\u304a\uff0cRefBox \u306e\u8a2d\u5b9a\u306f\uff0c\u30bd\u30fc\u30b9\u76f4\u66f8\u304d\u3067\u3059\u306e\u3067\uff0c\u74b0\u5883\u306b\u5408\u308f\u305b\u3066\u306f\u4fee\u6b63\u3057\u3066\u304f\u3060\u3055\u3044\uff0e<\/p>\n
\r\n(myenv) wataru@NucBoxG5:~\/ros2_ws$ grep declare_parameter src\/refbox_peer\/src\/ros2-rcll_refbox_peer.cpp \r\n\tn->declare_parameter("~team_name", "BabyTigers-R");\r\n\tn->declare_parameter("~robot_name", "R");\r\n\tn->declare_parameter("~robot_number", 1);\r\n\tn->declare_parameter("~peer_address", "192.168.13.255");\r\n\tn->declare_parameter("~peer_public_recv_port", 4444);\r\n\tn->declare_parameter("~peer_public_send_port", 4445);\r\n\tn->declare_parameter("~peer_public_port", 0);\r\n\tn->declare_parameter("~peer_cyan_recv_port", 4441);\r\n n->declare_parameter("~peer_cyan_send_port", 4446);\r\n n->declare_parameter("~peer_cyan_port", 0);\r\n n->declare_parameter("~peer_magenta_recv_port", 4442);\r\n n->declare_parameter("~peer_magenta_send_port", 4447);\r\n n->declare_parameter("~peer_magenta_port", 0);\r\n\tn->declare_parameter("~crypto_key", "randomkey");\r\n\tn->declare_parameter("~crypto_cipher", "aes-128-cbc");\r\n<\/pre>\n\r\ncd ros2_ws\r\ncolcon build\r\n<\/pre>\n\u3053\u308c\u3067\uff0crefox_peer \u3092\u5b9f\u884c\u3067\u304d\u308b\u30cf\u30ba\uff0e
\nProduction Phase \u306b\u5207\u308a\u66ff\u3048\u308b\u3068\u52d5\u304d\u51fa\u3059\u306f\u305a\uff0e<\/p>\n
\r\n(myenv) wataru@NucBoxG5:~\/ros2_ws$ ros2 run refbox_peer refbox_peer \r\n[INFO] [1751283412.625596296] [rclcpp]: rcll_refbox_perr starting up\r\n[WARN] [1751283412.632060797] [rclcpp]: Creating public peer: addr: 192.168.13.255 send: 4445 recv: 4444\r\n[INFO] [1751283412.842603251] [rclcpp]: Creating private peer for MAGENTA\r\n[INFO] [1751283413.559174754] [rclcpp]: Referee Box 2019 detected\r\n[INFO] [1751283413.559216360] [rclcpp]: Sender is 192.168.13.5, component_id is 2000, msg_type is 3\r\n[WARN] [1751283432.196523312] [rclcpp]: Receive error from 192.168.13.5:4447: Received plain text message but encryption is enabled\r\n[WARN] [1751283432.196666309] [rclcpp]: Receive error from 192.168.13.5:4447: Deserialization fail: Message type 0:0 not registered\r\n<\/pre>\n\u4e0a\u8a18\u306e\u8b66\u544a\u304c\u51fa\u305f\u5834\u5408\u306f\uff0c\u6697\u53f7\u5316\u30ad\u30fc\u3092\u9593\u9055\u3048\u3066\u3044\u308b\u304b\u30c1\u30fc\u30e0\u540d\u3092\u9593\u9055\u3048\u3066\u3044\u308b\u304b\u3000\u3067\u3059\uff0e<\/p>\n
\r\nryukoku@fedora:~\/git\/rcll-get-started\/config\/refbox$ cat team\/default_team.yaml \r\n%YAML 1.2\r\n---\r\n---\r\n# Start a fresh game per default.\r\n\r\nllsfrb:\r\n game:\r\n teams: [Carologistics, GRIPS, Solidus, Babytigers-R, BabyTigers-W]\r\n crypto-keys:\r\n Carologistics: randomkey\r\n GRIPS: randomkey\r\n Solidus: randomkey\r\n Babytigers-R: randomkey\r\n BabyTigers-W: randomkey\r\n<\/pre>\n\u3042\u306f\u306f\uff0eTigers\u306eT\u306f\uff0c\u5c0f\u6587\u5b57\u3067RefBox\u306b\u767b\u9332\u3055\u308c\u3066\u3044\u307e\u3059\u306d\uff0e
\n\uff08\u305d\u3057\u3066\uff0cW\u306e\u65b9\u306f\u5927\u6587\u5b57\u306b\u3057\u3061\u3083\u3063\u3066\u3044\u308b\u2026\uff09
\n\u3046\u307e\u304f\u3044\u304f\u3068\uff0c\u3053\u3093\u306a\u611f\u3058\uff0e<\/p>\n
\r\n(myenv) wataru@NucBoxG5:~\/ros2_ws$ ros2 topic echo \/rcll\/routes_info\r\nteam_color: 0\r\nroute:\r\n- id: 1\r\n zone: 1044\r\n- id: 1\r\n zone: 1035\r\n- id: 1\r\n zone: 1055\r\n- id: 1\r\n zone: 1015\r\n- id: 1\r\n zone: 1045\r\n- id: 1\r\n zone: 1053\r\n- id: 1\r\n zone: 1014\r\n- id: 1\r\n zone: 1043\r\n- id: 1\r\n zone: 1052\r\n- id: 1\r\n zone: 1032\r\n- id: 1\r\n zone: 1024\r\n- id: 1\r\n zone: 1033\r\n---\r\nteam_color: 0\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"ROS2\u306b\u3066Navigation Challenge \u3092\u3084\u308d\u3046\u3068\u3059\u308b\u3068\uff0c\/rcl …<\/p>\n
refbox_peer (ros2-rcll_refbox_peer) \u3067Navigation Challenge<\/span> \u7d9a\u304d\u3092\u8aad\u3080 »<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_crdt_document":"","footnotes":""},"categories":[39,3,40,2],"tags":[],"class_list":["post-3845","post","type-post","status-publish","format-standard","hentry","category-kachaka","category-logistics-league","category-refbox","category-robocup"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3845","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=3845"}],"version-history":[{"count":6,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3845\/revisions"}],"predecessor-version":[{"id":3851,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/3845\/revisions\/3851"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3845"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3845"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3845"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}